CN112269188A - Radar ranging and collision avoidance system of bridge type grab ship unloader - Google Patents
Radar ranging and collision avoidance system of bridge type grab ship unloader Download PDFInfo
- Publication number
- CN112269188A CN112269188A CN202011246181.8A CN202011246181A CN112269188A CN 112269188 A CN112269188 A CN 112269188A CN 202011246181 A CN202011246181 A CN 202011246181A CN 112269188 A CN112269188 A CN 112269188A
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- ship unloader
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- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 239000005394 sealing glass Substances 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 4
- 238000013459 approach Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a radar ranging and collision avoidance system of a bridge type grab bucket ship unloader, which comprises a laser ranging radar, a data transmission link, a ship unloader PLC, a ship unloader cart variable frequency driving system and an early warning device, wherein the laser ranging radar is installed on the left door leg and the right door leg on the land side of the ship unloader through a fixed support, the laser ranging radar is in communication connection with the ship unloader PLC through the data transmission link, the ship unloader PLC is respectively in communication connection with the early warning device and the ship unloader cart variable frequency driving system, approach signals around the left door leg and the right door leg on the land side of the ship unloader are obtained through monitoring of the laser ranging radar, the approach signals are fed back to the ship unloader PLC through the data transmission link, the ship unloader PLC controls the ship unloader cart variable frequency driving system to decelerate or stop, and the ship unloader PLC controls the early warning device to send out early warning signals. The invention can effectively prevent the ship from colliding with the ship unloader, the vehicle or the pedestrian, and reduce the potential safety hazard.
Description
Technical Field
The invention relates to an anti-collision system of a ship unloader, in particular to a radar ranging anti-collision system of a bridge type grab ship unloader.
Background
A bridge type grab ship unloader belongs to special high-altitude equipment at the front edge of a bulk cargo wharf, and a driver has a large visual blind area when moving the ship in a driver cab. The mechanical travel switch is adopted as an adjacent equipment anti-collision detection and protection device by the current driving mechanism of the ship unloader cart, the speed reduction and stop limiting are arranged, the mechanical travel switch is installed on the cart trolley below the left and right door leg anti-collision rods on the sea side of the ship unloader, when the adjacent ship unloader carts move in opposite directions, the mechanical arm of the mechanical travel switch is collided and acts, an action signal is fed back to the PLC, the PLC sends a control signal to control the variable-frequency driving system of the cart to decelerate or stop, and therefore the mechanical collision is prevented. The existing big car anti-collision system of the ship unloader can only detect the collision of the adjacent ship unloader, and can not detect the effective distance between the ship unloader and a front wharf vehicle or a pedestrian, so that the ship unloader often collides with the vehicle or the pedestrian, the equipment and the production safety are greatly influenced, and the direct and indirect economic losses caused by the production are avoided.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a radar ranging and collision preventing system of a bridge type grab ship unloader, which can effectively prevent collision with the ship unloader, vehicles or pedestrians and reduce potential safety hazards.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a bridge type grab bucket ship unloader radar range finding collision avoidance system, includes laser ranging radar, data transmission link, ship unloader PLC, ship unloader cart variable frequency drive system and early warning device, and the laser ranging radar passes through the fixed bolster to be installed on the left and right gate leg in ship unloader land side, and the laser ranging radar passes through data transmission link and ship unloader PLC communication connection, ship unloader PLC respectively with early warning device, ship unloader cart variable frequency drive system communication connection, obtain the signal of being close to around the left and right gate leg in ship unloader land side through the monitoring of laser ranging radar, feed back this signal of being close to ship unloader PLC through data transmission link, by ship unloader PLC control ship unloader cart variable frequency drive system speed reduction or stop, send early warning signal by ship unloader PLC control early warning device simultaneously.
Preferably, the laser range radar is a single-point laser range radar, and comprises a laser transmitter and a laser receiver, wherein the laser transmitter transmits laser, and the laser receiver receives the reflection of the laser.
Preferably, the laser ranging radar has a range of 0.1-12 m.
Preferably, the fixed bolster includes unable adjustment base, adjusting spring and mounting platform, and unable adjustment base installs on the left and right gate leg of ship unloaders land side, places unable adjustment base in the mounting platform, and mounting platform passes through adjusting spring to be installed in unable adjustment base, and mounting platform is used for installing laser range radar.
Preferably, the fixing base comprises a shell, a support leg and a sealing glass cover, the shell is provided with an opening, the support leg is installed on the other side of the shell opposite to the opening, and the sealing glass cover covers the opening.
Preferably, the adjusting spring is mounted on the fixed base through an adjusting bolt, and the mounting platform is fixedly mounted on the fixed base through a screw.
Preferably, the early warning device comprises a buzzer alarm and a warning device which are arranged in a cab of the ship unloader.
Compared with the prior art, the invention has the following beneficial effects:
the invention has access to the laser ranging radar, when the driver operates the ship unloader to move the ship unloader to work, and the laser ranging radar detects that the ship unloader, equipment, a vehicle or a pedestrian is close to each other, a signal is fed back to the ship unloader PLC immediately, an early warning device in a cab gives an alarm to remind an operator to carry out proper operation in time, and meanwhile, the ship unloader PLC controls the speed reduction or stop of a frequency conversion driving system of a cart of the ship unloader, so that the occurrence of collision between the ship unloader and the adjacent ship unloader, equipment, vehicle or pedestrian is effectively avoided, and potential safety hazards are reduced.
Drawings
FIG. 1 is a schematic connection diagram of a radar ranging collision avoidance system of a bridge type grab ship unloader of the present invention;
FIG. 2 is a schematic structural view of a fixing bracket according to the present invention;
FIG. 3 is a second schematic structural view of the fixing bracket of the present invention;
FIG. 4 is a schematic diagram of the radar ranging collision avoidance system of the bridge type grab ship unloader according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of the cart detecting the object entering the safety zone, the deceleration zone, and the stop zone while moving.
In the figure: 4. fixing a bracket; 41. a fixed base; 411. a housing; 412. adjusting the bolt; 42. adjusting the spring; 43. mounting a platform; 44. a screw; 45. a support leg; 46. and sealing the glass cover.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The radar ranging and collision avoidance system of the bridge type grab bucket ship unloader shown in figures 1-3 comprises a laser ranging radar, a data transmission link, a ship unloader PLC, a ship unloader cart variable frequency driving system and an early warning device, wherein the laser ranging radar is arranged on the left and right door legs on the land side of the ship unloader through a fixed bracket 4 and is in communication connection with the ship unloader PLC through the data transmission link, the ship unloader PLC is respectively in communication connection with the early warning device and the ship unloader cart variable frequency driving system, the approach signals around the left and right door legs on the land side of the ship unloader are obtained by monitoring of a laser ranging radar, the approach signals are fed back to the ship unloader PLC through a data transmission link, the ship unloader PLC controls the frequency conversion driving system of the ship unloader cart to decelerate or stop, meanwhile, the ship unloader PLC controls the early warning device to send out an early warning signal to remind an operation driver to pay attention to driving safety. The early warning device comprises a buzzer alarm and a warning device which are arranged in a cab of the ship unloader.
The laser range radar of this embodiment is single-point laser range radar, including laser emitter and laser receiver, laser emitter transmission laser, laser receiver accept the reflection of laser. The range of the laser ranging radar is 0.1-12 m.
The fixing support 4 of this embodiment includes unable adjustment base 41, adjusting spring 42 and mounting platform 43, and unable adjustment base 41 installs on the left and right doorleg of ship unloaders land side, and unable adjustment base 41 is placed in mounting platform 43 in, and mounting platform 43 passes through adjusting spring 42 to be installed in unable adjustment base 41, and mounting platform 43 is used for installing laser range radar. The fixed base 41 includes a housing 411, a leg 45, and a sealing glass cover 46, the housing 411 has an opening, the leg 45 is mounted on the other side of the housing 411 opposite to the opening, and the sealing glass cover 46 covers the opening. Adjusting spring 42 is installed in unable adjustment base 41 through adjusting bolt 412, and mounting platform 43 passes through screw rod 44 fixed mounting in unable adjustment base 41, and the different angles of installation platform 43 are realized to the regulation of accessible adjusting bolt 412, correspond the range finding angle of adjusting laser rangefinder radar.
The invention adopts the single-point laser ranging radar to carry out real-time ranging, combines the fixed support 4, can effectively improve the accuracy and the efficiency of detection, combines the fixed mounting support, effectively prevents the ship unloader from colliding during moving, improves the safety factor, and ensures that the traveling mechanism of the cart is decelerated or stopped in time in a safety range. Adopt laser range radar to carry out real-time range finding, combine mounting platform 43's levelness to adjust, can optimize the range finding angle of radar and promote the rate of accuracy that detects, improve the accuracy rate that the ship unloaders moved quick-witted in-process real-time distance monitoring, improve factor of safety, ensure that cart running gear in time slows down or parks in the safety range.
The working principle of the single-point laser ranging radar is a time of flight (TOF) method, namely a laser emits a beam of fine laser to a target object, the laser reflected by the target object is received by a photoelectric element, a built-in timer measures and calculates the round-trip time T of the laser beam, and the position S of the target object is calculated: 2S ═ c ═ Δ t, S ═ c ═ Δ t/2, (electromagnetic wave propagation speed c ═ 3 × 108m/s, Δ T ═ T2-T1, T2 is the electromagnetic wave return time, and T1 is the electromagnetic wave emission time). The single-point laser ranging radar with the ranging range of 0.1-12m is used in the embodiment, is installed on the left and right door legs of the land side of the ship unloader cart, detects the object mark in front of the traveling direction of the cart, can realize the functions of stable, accurate, high-sensitivity and high-speed distance measurement, and has strong adaptability under different environments of different temperatures, different reflectivities and the like. In order to prevent the installation levelness error from influencing the monitoring of the linear object marking distance, the levelness of the installation platform 43 in the fixed support 4 can be adjusted to reduce the measurement error caused by factors except the radar. The fixed support 4 is sealed and dustproof through the sealing glass cover 46, and can prevent the near-distance value misinformation caused by shelters such as coal, ore sand and the like at the radar transmitting port under the complex working condition of the bulk cargo wharf.
As shown in fig. 4, the single-point laser ranging radar converts the detected position of the target object into an output switching value signal through a data transmission link and transmits the output switching value signal to the ship unloader PLC, and the configurable ship unloader PLC is provided with a normal mode, a deceleration mode and a stop mode. Referring to fig. 4 and 5, according to the received switching value signal, when the single-point laser ranging radar detects an object in a safe area, the ship unloader PLC sends a signal to the ship unloader PLC, the ship unloader PLC adopts a normal mode, and simultaneously, the ship unloader PLC sends a signal to a cab, the cab PLC can be configured, and the cab PLC controls a green warning device on the right linkage table to normally light a warning light so as to remind a driver of normally operating the ship unloader; when the single-point laser ranging radar detects an object in the warning area, the ship unloader PLC adopts a deceleration mode and sends a deceleration signal to the ship unloader PLC, the ship unloader PLC sends a deceleration signal to the ship unloader cart variable frequency driving system, the speed of the ship unloader cart is rapidly reduced to 8% of the rated speed, meanwhile, the ship unloader PLC sends a signal to the cab PLC, and the right linkage platform alarm buzzer of the cab gives an alarm to remind a driver to pay attention to the safety of moving the ship unloader. When the laser ranging radar detects an object in a stop area, the ship unloader PLC adopts a stop mode and sends a stop signal to the ship unloader PLC, the ship unloader PLC sends a signal to control a frequency converter of a frequency conversion driving system of a ship unloader cart to stop the ship unloader cart, meanwhile, the ship unloader PLC sends a signal to the cab PLC, the right linkage platform alarm buzzer of the cab alarms and stops after 10 seconds of delay, and the parking fault is displayed on a CMS (CMS) of the cab, so that a driver is reminded to pay attention to driving safety and take timely and effective measures to avoid collision (vehicles, pedestrians, adjacent ship unloaders and the like at a wharf of a harbor area).
The anti-collision system and the original mechanical travel switch anti-collision detection device of the embodiment can complement each other, realize the anti-collision redundant protection, enable ship unloading operators to timely and effectively stop the operation of the cart, and prevent safety accidents caused by visual blind areas or misoperation.
According to actual measurement, when the speed of the ship unloader is 8%, the braking distance of the ship unloader is only 2cm, and when the speed of the ship unloader is a rated speed, the braking distance of the ship unloader is 15cm, and the emergency stop braking distance is 7 cm. The braking distance of the large vehicle can be shortened by firstly decelerating and then stopping and setting the given running speed of the large vehicle during deceleration, and the collision with an adjacent ship unloader, a vehicle or a pedestrian caused by overlong braking distance when the large vehicle of the ship unloader suddenly stops can be avoided.
The embodiments of the present invention are not limited thereto, and according to the above-described embodiments of the present invention, other embodiments obtained by modifying, replacing or combining the above-described preferred embodiments in other various forms without departing from the basic technical idea of the present invention and without conflict between the conventional technical knowledge and conventional means in the art are within the scope of the present invention.
Claims (7)
1. The utility model provides a bridge type grab bucket ship unloader radar range finding collision avoidance system, a serial communication port, including laser rangefinder radar, data transmission link, ship unloader PLC, ship unloader cart frequency conversion actuating system and early warning device, the laser rangefinder radar passes through the fixed bolster and installs on the left and right gate leg of ship unloader land side, the laser rangefinder radar passes through data transmission link and ship unloader PLC communication connection, ship unloader PLC respectively with early warning device, ship unloader cart frequency conversion actuating system communication connection, obtain the signal of being close to around the left and right gate leg of ship unloader land side through the monitoring of laser rangefinder radar, feed back this signal of being close to ship unloader PLC through data transmission link, by ship unloader PLC control ship unloader cart frequency conversion actuating system slow down or stop, send early warning signal by ship unloader PLC control early warning device simultaneously.
2. The radar ranging and collision avoidance system of the bridge type grab bucket ship unloader of claim 1, wherein the laser ranging radar is a single-point laser ranging radar comprising a laser transmitter and a laser receiver, the laser transmitter transmits laser light, and the laser receiver receives reflection of the laser light.
3. The radar ranging collision avoidance system of the bridge type grab bucket ship unloader of claim 1, wherein the range of the laser ranging radar is 0.1-12 m.
4. The radar ranging and collision avoidance system of the bridge type grab bucket ship unloader according to any one of claims 1 to 3, wherein the fixed support comprises a fixed base, an adjusting spring and a mounting platform, the fixed base is mounted on the left and right door legs on the land side of the ship unloader, the mounting platform is arranged in the fixed base, the mounting platform is mounted on the fixed base through the adjusting spring, and the mounting platform is used for mounting the laser ranging radar.
5. The radar ranging and collision avoidance system of the bridge type grab bucket ship unloader of claim 4, wherein the fixing base comprises a housing, a leg and a sealing glass cover, the housing is provided with an opening, the leg is installed at the other side of the housing opposite to the opening, and the sealing glass cover covers the opening.
6. The radar ranging and collision avoidance system of the bridge type grab ship unloader of claim 5, wherein the adjusting spring is installed on the fixed base through an adjusting bolt, and the installation platform is fixedly installed on the fixed base through a screw.
7. The radar ranging collision avoidance system of the bridge grab ship unloader of any one of claims 1 to 3, wherein the early warning device comprises a buzzer siren and a warning device installed in a cab of the ship unloader.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011246181.8A CN112269188A (en) | 2020-11-10 | 2020-11-10 | Radar ranging and collision avoidance system of bridge type grab ship unloader |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011246181.8A CN112269188A (en) | 2020-11-10 | 2020-11-10 | Radar ranging and collision avoidance system of bridge type grab ship unloader |
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| CN112269188A true CN112269188A (en) | 2021-01-26 |
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| CN202011246181.8A Pending CN112269188A (en) | 2020-11-10 | 2020-11-10 | Radar ranging and collision avoidance system of bridge type grab ship unloader |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104773A (en) * | 2021-11-25 | 2022-03-01 | 大连华锐重工集团股份有限公司 | Anti-collision system and method for material receiving plate of grab ship unloader |
| CN117492030A (en) * | 2023-12-29 | 2024-02-02 | 中公智联（北京）科技有限公司 | Bridge collision signal recognition device and method |
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| EP1813959A1 (en) * | 2006-01-31 | 2007-08-01 | MEKRA Lang GmbH & Co. KG | A rearview mirror for vehicles including an electronic display for indicating objects in a monitored area for collision avoidance |
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| CN207774646U (en) * | 2018-01-19 | 2018-08-28 | 日照港股份有限公司第二港务分公司 | Ship unloaders walking anti-collision monitoring device based on radar |
| CN108931772A (en) * | 2018-03-30 | 2018-12-04 | 安徽尼古拉电子科技有限公司 | A kind of adaptive speed anti-collision warning radar |
| CN210084767U (en) * | 2019-05-21 | 2020-02-18 | 太仓武港码头有限公司 | Girder collision avoidance system before ship unloaders based on laser range radar |
| CN211698183U (en) * | 2019-12-31 | 2020-10-16 | 安徽华电芜湖发电有限公司 | Ship unloader |
| CN213423473U (en) * | 2020-11-10 | 2021-06-11 | 广州港集团有限公司 | Radar ranging and collision avoidance system of bridge type grab ship unloader |
-
2020
- 2020-11-10 CN CN202011246181.8A patent/CN112269188A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1813959A1 (en) * | 2006-01-31 | 2007-08-01 | MEKRA Lang GmbH & Co. KG | A rearview mirror for vehicles including an electronic display for indicating objects in a monitored area for collision avoidance |
| CN204264127U (en) * | 2014-09-19 | 2015-04-15 | 黄国鹏 | Truck active anti-collision device |
| CN207774646U (en) * | 2018-01-19 | 2018-08-28 | 日照港股份有限公司第二港务分公司 | Ship unloaders walking anti-collision monitoring device based on radar |
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| CN210084767U (en) * | 2019-05-21 | 2020-02-18 | 太仓武港码头有限公司 | Girder collision avoidance system before ship unloaders based on laser range radar |
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| CN213423473U (en) * | 2020-11-10 | 2021-06-11 | 广州港集团有限公司 | Radar ranging and collision avoidance system of bridge type grab ship unloader |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104773A (en) * | 2021-11-25 | 2022-03-01 | 大连华锐重工集团股份有限公司 | Anti-collision system and method for material receiving plate of grab ship unloader |
| CN117492030A (en) * | 2023-12-29 | 2024-02-02 | 中公智联（北京）科技有限公司 | Bridge collision signal recognition device and method |
| CN117492030B (en) * | 2023-12-29 | 2024-03-15 | 中公智联（北京）科技有限公司 | Bridge collision signal recognition device and method |
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